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    • 43. 发明授权
    • System and method for actuator control
    • 执行器控制的系统和方法
    • US09116516B2
    • 2015-08-25
    • US13532836
    • 2012-06-26
    • Francis P. Mullin
    • Francis P. Mullin
    • G05B19/042
    • G05B19/0428G05B2219/24033
    • Information from a real sensor and a virtual sensor are fused to form a hybrid sensor. Control signals (and/or the absolute value of the control signals) applied to an actuator are accumulated and converted to a position the actuator should be in based on the accumulated control signals to form the virtual sensor. The actuator position from the virtual sensor is fused with an actuator position from a real sensor to form the hybrid sensor. Small periodic corrections can be made to the accumulating control signals to maintain or achieve, if possible, correlation between the virtual sensor and the real sensor over time. The corrections slowly decrement errors in the actuator position indicated by the virtual sensor. Accumulating numerical errors in the accumulating control signals are reduced and the significance of long past events is de-emphasized by a forgetting factor (kff) used at defined periods of time (tff).
    • 来自真实传感器和虚拟传感器的信息被融合以形成混合传感器。 施加到致动器的控制信号(和/或控制信号的绝对值)根据累积的控制信号被累积并转换成致动器应当处于的位置,以形成虚拟传感器。 来自虚拟传感器的致动器位置与来自真实传感器的致动器位置熔合以形成混合传感器。 可以对累积控制信号进行小周期校正,以在可能的情况下维持或实现虚拟传感器和实际传感器随时间的相关性。 修正会缓慢地减少由虚拟传感器指示的执行器位置的误差。 累积控制信号中的累积数值误差减小,并且通过在限定的时间段(tff)下使用的遗忘因子(kff)来去除强过去事件的重要性。